商用车考虑防侧翻的轨迹跟踪控制研究  

Research on trajectory tracking control of commercial vehicle considering anti⁃rollover

作　　者：刘澜涛 李贵远[1] 崔安迪 李刚[1] LIU Lantao;LI Guiyuan;CUI Andi;LI Gang(Automobile and Traffic Engineering,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001

出　　处：《现代电子技术》2025年第7期104-111,共8页Modern Electronics Technique

基　　金：辽宁省科技厅“揭榜挂帅”科技攻关计划项目:新能源车的热管理系统(2022JH1/10800021)。

摘　　要：针对车辆在高速行驶中避撞时出现的轨迹跟踪误差大且存在侧翻风险等问题,文中设计了一种防侧翻的路径跟踪控制策略。该策略采用模型预测控制(MPC)对轨迹进行跟踪。模型预测控制的轨迹跟踪主要包括以下几个方面:预测模型的线性化和离散化处理、目标函数的设计以及约束条件的建立。MPC控制器输出车辆的转角,而防侧翻控制则采用模糊PID控制。具体实现过程中,首先建立车辆的二自由度模型,并将车辆参数、车速和转向角等信息输入到该模型中,得到理想的横摆角速度和质心侧偏角。将这些理想值与TrukSim仿真输出的实际值进行比较,计算其差值及差值变化率,然后将差值和变化率输入模糊PID控制器。模糊PID控制器输出附加横摆力矩,随后通过对车轮制动力矩进行分配,实现差动制动,从而达到防侧翻的效果。In view of the large trajectory tracking error and rollover risk when vehicles avoid collision at high speed,a path tracking control strategy to prevent rollover is designed.In this strategy,model predictive control(MPC)is used to track the trajectory.The trajectory tracking of the MPC mainly includes the following aspects:the linearization and discretization of the prediction model,the design of the objective function and the establishment of the constraint conditions.The rotation angle of the vehicle is output by the MPC controller,while the fuzzy PID control is used for the anti⁃rollover control.In the process of implementation,the two⁃degree⁃of⁃freedom(2⁃DOF)model of the vehicle is established,and the vehicle parameters,speed and steering angle are input into the model to obtain the ideal yaw rate and mass center sideslip angle.These ideal values are compared with the actual values output by TrukSim simulation,and the difference value and the change rate of the difference value are calculated.Then the difference value and the change rate are input into the fuzzy PID(proportional⁃integral⁃derivative)controller.By the fuzzy PID controller,the additional yaw torque is output,and then the wheel braking torque is distributed to achieve differential braking,so as to achieve the effect of anti⁃rollover control.

关 键 词：无人驾驶 路径跟踪 防侧翻 模糊控制 模型预测控制 二自由度模型 

分 类 号：TN876.3-34[电子电信—信息与通信工程] TP242[自动化与计算机技术—检测技术与自动化装置]